c7cf9483b3
Rather than rebuild gplan + the AVR firmware to add a true 7th axis,
we treat W as a synchronous out-of-band axis that moves between G-code
blocks. The pipeline:
upload -> AuxPreprocessor rewrites W tokens into (MSG,HOOK:aux:N)
comments -> planner sees only XYZ + messages -> Hooks fires the
registered internal handler -> AuxAxis sends STEPS/HOME over serial
to the ESP and blocks the planner until done.
New files:
src/py/bbctrl/AuxAxis.py serial worker + RPC layer
src/py/bbctrl/AuxPreprocessor.py G-code rewriter
docs/AUX_W_AXIS.md design + ops notes
Changed:
Hooks.py register_internal(); fix the (MSG,HOOK:...) listener
to read the 'messages' state list (was broken before)
Ctrl.py instantiate AuxAxis, register aux/aux_rel/aux_home/
aux_setzero hooks
FileHandler.py rewrite uploads in place when they use W
Mach.py rewrite W tokens in MDI input the same way
Web.py REST endpoints under /api/aux/*
The ESP firmware in ../auxcnc was extended in lockstep: HOME, HOMECFG
(NVS-persisted), WPOS, HOMED?, LIMIT?, abortable STEPS with
limit-aware abort, trapezoidal ramps, deterministic [topic] reply
tokens, [boot] banner.
Real-time decisions (limit switch, step pulses) live on the ESP. The
host owns mm units, soft limits, and aux_homed bookkeeping. ESP
reboot mid-job clears aux_homed and surfaces a message; per design
manual jogs are still allowed without homing.
158 lines
6.2 KiB
Python
158 lines
6.2 KiB
Python
################################################################################
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# #
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# This file is part of the Buildbotics firmware. #
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# #
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# Copyright (c) 2015 - 2018, Buildbotics LLC #
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# All rights reserved. #
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# #
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# This file ("the software") is free software: you can redistribute it #
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# and/or modify it under the terms of the GNU General Public License, #
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# version 2 as published by the Free Software Foundation. You should #
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# have received a copy of the GNU General Public License, version 2 #
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# along with the software. If not, see <http://www.gnu.org/licenses/>. #
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# #
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# The software is distributed in the hope that it will be useful, but #
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# WITHOUT ANY WARRANTY; without even the implied warranty of #
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU #
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# Lesser General Public License for more details. #
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# #
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# You should have received a copy of the GNU Lesser General Public #
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# License along with the software. If not, see #
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# <http://www.gnu.org/licenses/>. #
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# #
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# For information regarding this software email: #
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# "Joseph Coffland" <joseph@buildbotics.com> #
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# #
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################################################################################
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import os
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import time
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import bbctrl
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class Ctrl(object):
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def __init__(self, args, ioloop, id):
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self.args = args
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self.ioloop = bbctrl.IOLoop(ioloop)
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self.id = id
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self.timeout = None # Used in demo mode
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if id and not os.path.exists(id): os.mkdir(id)
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# Start log
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if args.demo: log_path = self.get_path(filename = 'bbctrl.log')
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else: log_path = args.log
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self.log = bbctrl.log.Log(args, self.ioloop, log_path)
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self.state = bbctrl.State(self)
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self.config = bbctrl.Config(self)
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self.log.get('Ctrl').info('Starting %s' % self.id)
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try:
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if args.demo: self.avr = bbctrl.AVREmu(self)
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else: self.avr = bbctrl.AVR(self)
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self.i2c = bbctrl.I2C(args.i2c_port, args.demo)
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self.lcd = bbctrl.LCD(self)
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self.mach = bbctrl.Mach(self, self.avr)
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self.preplanner = bbctrl.Preplanner(self)
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if not args.demo: self.jog = bbctrl.Jog(self)
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self.pwr = bbctrl.Pwr(self)
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self.hooks = bbctrl.Hooks(self)
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self.aux = bbctrl.AuxAxis(self)
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self._register_aux_hooks()
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self.mach.connect()
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self.lcd.add_new_page(bbctrl.MainLCDPage(self))
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self.lcd.add_new_page(bbctrl.IPLCDPage(self.lcd))
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os.environ['GCODE_SCRIPT_PATH'] = self.get_upload()
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except Exception: self.log.get('Ctrl').exception('Internal error: Control initialization failed')
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def __del__(self): print('Ctrl deleted')
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def clear_timeout(self):
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if self.timeout is not None: self.ioloop.remove_timeout(self.timeout)
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self.timeout = None
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def set_timeout(self, cb, *args, **kwargs):
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self.clear_timeout()
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t = self.args.client_timeout
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self.timeout = self.ioloop.call_later(t, cb, *args, **kwargs)
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def get_path(self, dir = None, filename = None):
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path = './' + self.id if self.id else '.'
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path = path if dir is None else (path + '/' + dir)
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return path if filename is None else (path + '/' + filename)
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def get_upload(self, filename = None):
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return self.get_path('upload', filename)
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def get_plan(self, filename = None):
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return self.get_path('plans', filename)
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def configure(self):
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# Indirectly configures state via calls to config() and the AVR
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self.config.reload()
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self.state.init()
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def ready(self):
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# This is used to synchronize the start of the preplanner
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self.preplanner.start()
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def _register_aux_hooks(self):
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"""Wire up the auxcnc HOOK: events to AuxAxis methods."""
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log = self.log.get('AuxAxis')
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def _hook_move(ctx):
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data = (ctx.get('data') or '').strip()
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if not data:
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raise Exception('aux hook missing target')
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self.aux.move_abs_mm(float(data))
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def _hook_move_rel(ctx):
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data = (ctx.get('data') or '').strip()
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if not data:
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raise Exception('aux_rel hook missing delta')
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self.aux.move_rel_mm(float(data))
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def _hook_home(ctx):
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self.aux.home()
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def _hook_setzero(ctx):
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data = (ctx.get('data') or '').strip()
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mm = float(data) if data else 0.0
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self.aux.set_position_mm(mm)
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self.hooks.register_internal('aux', _hook_move,
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block_unpause=True, auto_resume=True)
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self.hooks.register_internal('aux_rel', _hook_move_rel,
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block_unpause=True, auto_resume=True)
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self.hooks.register_internal('aux_home', _hook_home,
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block_unpause=True, auto_resume=True,
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timeout=180)
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self.hooks.register_internal('aux_setzero', _hook_setzero,
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block_unpause=True, auto_resume=True)
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log.info('Aux hooks registered')
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def close(self):
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self.log.get('Ctrl').info('Closing %s' % self.id)
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self.ioloop.close()
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self.avr.close()
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self.mach.planner.close()
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try: self.aux.close()
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except Exception: pass
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